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Multi-Level Feature Extraction and Classification for Lane Changing Behavior Prediction and POD-Based Evaluation 用于车道变更行为预测和基于 POD 的评估的多层次特征提取和分类
Automation Pub Date : 2024-07-22 DOI: 10.3390/automation5030019
Zahra Rastin, Dirk Söffker
{"title":"Multi-Level Feature Extraction and Classification for Lane Changing Behavior Prediction and POD-Based Evaluation","authors":"Zahra Rastin, Dirk Söffker","doi":"10.3390/automation5030019","DOIUrl":"https://doi.org/10.3390/automation5030019","url":null,"abstract":"Lane changing behavior (LCB) prediction is a crucial functionality of advanced driver-assistance systems and autonomous vehicles. Predicting whether or not the driver of a considered ego vehicle is likely to change lanes in the near future plays an important role in improving road safety and traffic efficiency. Understanding the underlying intentions behind the driver’s behavior is an important factor for the effectiveness of assistance and monitoring systems. Machine learning (ML) algorithms have been broadly used to predict this behavior by analyzing datasets of traffic and driving data related to the considered ego vehicle. However, this technology has not yet been widely adopted in commercial products. Further improvements in these algorithms are necessary to enhance their robustness and reliability. In some domains, receiver operating characteristic and precision-recall curves are commonly used to evaluate ML algorithms, not considering the effects of process parameters in the evaluation, while it might be necessary to access the performance of these algorithms with respect to such parameters. This paper proposes the use of deep autoencoders to extract multi-level features from datasets, which can then be used to train an ensemble of classifiers. This allows for taking advantage of high feature-extraction capabilities of deep learning models and improving the final result using ensemble learning techniques. The concept of probability of detection is used in combination with the networks employed here to evaluate which classifiers can detect the correct LCB better in a statistical sense. Applications on data acquired from a driving simulator show that the proposed method can be adopted to improve the reliability of the classifiers, and ensemble ANNs perform best in predicting the upcoming human behavior in this dynamical context earlier than 3 s before the event itself.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"14 14","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141816202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Building an Educational Automated Mechatronics-Based Sorting System 构建基于机电一体化的教育自动化分拣系统
Automation Pub Date : 2024-07-15 DOI: 10.3390/automation5030018
Benjamin Jackvony, M. Jouaneh
{"title":"Building an Educational Automated Mechatronics-Based Sorting System","authors":"Benjamin Jackvony, M. Jouaneh","doi":"10.3390/automation5030018","DOIUrl":"https://doi.org/10.3390/automation5030018","url":null,"abstract":"This paper discusses the development of an automated sorting machine designed as a comprehensive mechatronics educational project. The project integrates mechanical and electrical design, incorporating a robot arm, a microcontroller, sensors, and actuators. The sorting machine uses color identification to sort wooden blocks of three different colors. The blocks are stacked and dropped onto a conveyor belt by a hopper system that employs a solenoid actuator and a servo to release one block at a time at specific intervals. As the belt runs continuously, each block passes under a color sensor, which monitors the color and signals one of three servo-powered mechanical arms to guide the block into the appropriate chute. Each chute is equipped with a capacitive proximity sensor that sends a voltage signal to the robot controller, queuing commands for the robot to pick up the blocks from the bottom of each chute and return them to the hopper to form a continuously running sorting system. This paper details the design and integration of the system’s various elements and the development of the control software. The designed system can drop blocks every 8.05 s, sort each block within 5 s of being sensed, and return them to the sorting system every 12 s. It has a color-sensing accuracy of 97%, with a failure rate of around 7%. The system achieved quick and reliable sorting using various low-cost, accessible, and open-source parts. The project exemplifies a cost-effective solution suitable for mechatronics education, demonstrating the numerous challenges involved in developing automated sorting systems.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"32 13","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141649081","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Optimized Hierarchical Sliding Mode Control for the Swing-up and Stabilization of a Rotary Inverted Pendulum 用于旋转倒立摆摆动和稳定的优化分层滑动模式控制
Automation Pub Date : 2024-07-08 DOI: 10.3390/automation5030017
D. Pham, Q. Dao, Thi-Van-Anh Nguyen
{"title":"Optimized Hierarchical Sliding Mode Control for the Swing-up and Stabilization of a Rotary Inverted Pendulum","authors":"D. Pham, Q. Dao, Thi-Van-Anh Nguyen","doi":"10.3390/automation5030017","DOIUrl":"https://doi.org/10.3390/automation5030017","url":null,"abstract":"This paper presents a study on controlling a rotary inverted pendulum (RIP) system using a hierarchical sliding mode control (HSMC) approach. The objective is to swing up and stabilize the pendulum at a desired position. The proposed HSMC controller addresses the underactuation challenge through a hierarchical structure of sliding surfaces. The particle swarm optimization (PSO) algorithm is used to optimize the controller parameters. Simulations were performed to evaluate the performance of the HSMC controller at different initial pendulum angles, demonstrating its effectiveness in achieving swing-up and stabilization. The integration of the PSO algorithm enhances the controller’s adaptability and robustness, emphasizing the benefits of combining optimization algorithms with controller parameter tuning for underactuated systems like the RIP.","PeriodicalId":514640,"journal":{"name":"Automation","volume":" 6","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141668476","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Development of a Programmable System Used for the Preparation of a Mixture of Flammable/Explosive Gases 开发用于制备易燃/易爆混合气体的可编程系统
Automation Pub Date : 2024-07-01 DOI: 10.3390/automation5030015
Adrian Bogdan Simon Marinica, G. Gaman, Daniel Pupazan, Emilian Ghicioi, Florin Manea, Marius Cornel Suvar, Maria Prodan, Niculina-Sonia Şuvar, G. Florea, Robert Laszlo
{"title":"Development of a Programmable System Used for the Preparation of a Mixture of Flammable/Explosive Gases","authors":"Adrian Bogdan Simon Marinica, G. Gaman, Daniel Pupazan, Emilian Ghicioi, Florin Manea, Marius Cornel Suvar, Maria Prodan, Niculina-Sonia Şuvar, G. Florea, Robert Laszlo","doi":"10.3390/automation5030015","DOIUrl":"https://doi.org/10.3390/automation5030015","url":null,"abstract":"In the present paper, the use of programmable microprocessors to develop a computerized stand for the preparation of a mixture of flammable/toxic/explosive gases in order to obtain mixtures at concentrations in explosive range is presented. The operating principle of the stand is based on the mixing of two volumetric flows, controlled with the help of microprocessors, where gases are stored and circulated at atmospheric pressure through cylindrical injectors, driven by stepper motors so that the gas circuit does not require valves. The exit of the stand is a homogenization chamber, with agitator and sensor to confirm the desired concentration of the mixture. This automated stand eliminates mechanical, electric or pneumatic valves from the gas circuits, avoiding elements with high mechanical resistance suitable for high pressures/depressions, removing the possibility of the return of the gas flow, without sensitivity to sudden pressures variations.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"102 5","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-07-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141702070","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Enhancing Quadcopter Autonomy: Implementing Advanced Control Strategies and Intelligent Trajectory Planning 增强四旋翼飞行器的自主性:实施先进的控制策略和智能轨迹规划
Automation Pub Date : 2024-06-14 DOI: 10.3390/automation5020010
Samira Hadid, Razika Boushaki, Fatiha Boumchedda, Sabrina Merad
{"title":"Enhancing Quadcopter Autonomy: Implementing Advanced Control Strategies and Intelligent Trajectory Planning","authors":"Samira Hadid, Razika Boushaki, Fatiha Boumchedda, Sabrina Merad","doi":"10.3390/automation5020010","DOIUrl":"https://doi.org/10.3390/automation5020010","url":null,"abstract":"In this work, an in-depth investigation into enhancing quadcopter autonomy and control capabilities is presented. The focus lies on the development and implementation of three conventional control strategies to regulate the behavior of quadcopter UAVs: a proportional–integral–derivative (PID) controller, a sliding mode controller, and a fractional-order PID (FOPID) controller. Utilizing careful adjustments and fine-tuning, each control strategy is customized to attain the desired dynamic response and stability during quadcopter flight. Additionally, an approach called Dyna-Q learning for obstacle avoidance is introduced and seamlessly integrated into the control system. Leveraging MATLAB as a powerful tool, the quadcopter is empowered to autonomously navigate complex environments, adeptly avoiding obstacles through real-time learning and decision-making processes. Extensive simulation experiments and evaluations, conducted in MATLAB 2018a, precisely compare the performance of the different control strategies, including the Dyna-Q learning-based obstacle avoidance technique. This comprehensive analysis allows us to understand the strengths and limitations of each approach, guiding the selection of the most effective control strategy for specific application scenarios. Overall, this research presents valuable insights and solutions for optimizing flight stability and enabling secure and efficient operations in diverse real-world scenarios.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"15 8","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-06-14","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141339140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Automatic Irrigation System Based on Computer Vision and an Artificial Intelligence Technique Using Raspberry Pi 使用树莓派(Raspberry Pi)的基于计算机视觉和人工智能技术的自动灌溉系统
Automation Pub Date : 2024-05-17 DOI: 10.3390/automation5020007
M. Oudah, Ali Al-Naji, Thooalnoon Y. Al-janabi, D. S. Namaa, J. Chahl
{"title":"Automatic Irrigation System Based on Computer Vision and an Artificial Intelligence Technique Using Raspberry Pi","authors":"M. Oudah, Ali Al-Naji, Thooalnoon Y. Al-janabi, D. S. Namaa, J. Chahl","doi":"10.3390/automation5020007","DOIUrl":"https://doi.org/10.3390/automation5020007","url":null,"abstract":"Efficient irrigation water use directly affects crop productivity as demand increases for various agricultural products due to population growth worldwide. While technologies are being developed in various fields, it has become desirable to develop automatic irrigation systems to reduce the waste of water caused by traditional irrigation processes. This paper presents a novel approach to an automated irrigation system based on a non-contact computer vision system to enhance the irrigation process and reduce the need for human intervention. The proposed system is based on a stand-alone Raspberry Pi camera imaging system mounted at an agricultural research facility which monitors changes in soil color by capturing images sequentially and processing captured images with no involvement from the facility’s staff. Two types of soil samples (sand soil and peat moss soil) were utilized in this study under three different scenarios, including dusty, sunny, and cloudy conditions of wet soil and dry soil, to take control of irrigation decisions. A relay, pump, and power bank were used to achieve the stability of the power source and supply it with regular power to avoid the interruption of electricity.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"2 9","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-05-17","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140961989","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Vision-Based Object Manipulation for Activities of Daily Living Assistance Using Assistive Robot 利用辅助机器人进行基于视觉的物体操作,为日常生活活动提供帮助
Automation Pub Date : 2024-04-15 DOI: 10.3390/automation5020006
Md. Tanzil Shahria, J. Ghommam, R. Fareh, M. H. Rahman
{"title":"Vision-Based Object Manipulation for Activities of Daily Living Assistance Using Assistive Robot","authors":"Md. Tanzil Shahria, J. Ghommam, R. Fareh, M. H. Rahman","doi":"10.3390/automation5020006","DOIUrl":"https://doi.org/10.3390/automation5020006","url":null,"abstract":"The increasing prevalence of upper and lower extremity (ULE) functional deficiencies presents a significant challenge, as it restricts individuals’ ability to perform daily tasks independently. Robotic devices are emerging as assistive devices to assist individuals with limited ULE functionalities in activities of daily living (ADLs). While assistive manipulators are available, manual control through traditional methods like joysticks can be cumbersome, particularly for individuals with severe hand impairments and vision limitations. Therefore, autonomous/semi-autonomous control of a robotic assistive device to perform any ADL task is open to research. This study addresses the necessity of fostering independence in ADLs by proposing a creative approach. We present a vision-based control system for a six-degrees-of-freedom (DoF) robotic manipulator designed for semi-autonomous “pick-and-place” tasks, one of the most common activities among ADLs. Our approach involves selecting and training a deep-learning-based object detection model with a dataset of 47 ADL objects, forming the base for a 3D ADL object localization algorithm. The proposed vision-based control system integrates this localization technique to identify and manipulate ADL objects (e.g., apples, oranges, capsicums, and cups) in real time, returning them to specific locations to complete the “pick-and-place” task. Experimental validation involving an xArm6 (six DoF) robot from UFACTORY in diverse settings demonstrates the system’s adaptability and effectiveness, achieving an overall 72.9% success rate in detecting, localizing, and executing ADL tasks. This research contributes to the growing field of autonomous assistive devices, enhancing independence for individuals with functional impairments.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"58 7","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-15","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140699184","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robotic Disassembly Platform for Disassembly of a Plug-In Hybrid Electric Vehicle Battery: A Case Study 用于拆卸插电式混合动力电动汽车电池的机器人拆卸平台:案例研究
Automation Pub Date : 2024-04-01 DOI: 10.3390/automation5020005
M. Qu, D. T. Pham, Faraj Altumi, Adeyemisi Gbadebo, Natalia Hartono, K. Jiang, Mairi Kerin, Feiying Lan, Marcel Micheli, Shuihao Xu, Yongjing Wang
{"title":"Robotic Disassembly Platform for Disassembly of a Plug-In Hybrid Electric Vehicle Battery: A Case Study","authors":"M. Qu, D. T. Pham, Faraj Altumi, Adeyemisi Gbadebo, Natalia Hartono, K. Jiang, Mairi Kerin, Feiying Lan, Marcel Micheli, Shuihao Xu, Yongjing Wang","doi":"10.3390/automation5020005","DOIUrl":"https://doi.org/10.3390/automation5020005","url":null,"abstract":"Efficient processing of end-of-life lithium-ion batteries in electric vehicles is an important and pressing challenge in a circular economy. Regardless of whether the processing strategy is recycling, repurposing, or remanufacturing, the first processing step will usually involve disassembly. As battery disassembly is a dangerous task, efforts have been made to robotise it. In this paper, a robotic disassembly platform using four industrial robots is proposed to automate the non-destructive disassembly of a plug-in hybrid electric vehicle battery pack into modules. This work was conducted as a case study to demonstrate the concept of the autonomous disassembly of an electric vehicle battery pack. A two-step object localisation method based on visual information is used to overcome positional uncertainties from different sources and is validated by experiments. Also, the unscrewing system is highlighted, and its functions, such as handling untightened fasteners, loosening jammed screws, and changing the nutrunner adapters with square drives, are detailed. Furthermore, the time required for each operation is compared with that taken by human operators. Finally, the limitations of the platform are reported, and future research directions are suggested.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"180 ","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-04-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140756849","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Correction: Berceanu, C.; Pătrașcu, M. Engineering Emergence: A Survey on Control in the World of Complex Networks. Automation 2022, 3, 176–196 更正:Berceanu, C.; Pătrașcu, M. Engineering Emergence:复杂网络世界中的控制概览》。自动化 2022,3,176-196
Automation Pub Date : 2024-03-26 DOI: 10.3390/automation5020004
Cristian Berceanu, Monica Pătrașcu
{"title":"Correction: Berceanu, C.; Pătrașcu, M. Engineering Emergence: A Survey on Control in the World of Complex Networks. Automation 2022, 3, 176–196","authors":"Cristian Berceanu, Monica Pătrașcu","doi":"10.3390/automation5020004","DOIUrl":"https://doi.org/10.3390/automation5020004","url":null,"abstract":"In the original publication [...]","PeriodicalId":514640,"journal":{"name":"Automation","volume":"108 12","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140380417","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Automated Detection of Train Drivers’ Head Movements: A Proof-of-Concept Study 自动检测火车司机的头部运动:概念验证研究
Automation Pub Date : 2024-03-18 DOI: 10.3390/automation5010003
David Schackmann, Esther Bosch
{"title":"Automated Detection of Train Drivers’ Head Movements: A Proof-of-Concept Study","authors":"David Schackmann, Esther Bosch","doi":"10.3390/automation5010003","DOIUrl":"https://doi.org/10.3390/automation5010003","url":null,"abstract":"With increasing automation in the rail sector, the train driver’s task changes from full control to a supervisory position. This bears the risk of monotony and subsequent changes in visual attention, possibly for the worse. Similar to concepts in car driving, one solution for this could be driver state monitoring with triggered interventions in case of declining task attention. Previous research on train drivers’ visual attention has used eye tracking. In contrast, head tracking is easier to realize within the train driver cabin. This study set out to test whether head tracking is a feasible alternative to eye tracking and can provide similar findings. Based on previous eye-tracking research, we compared differences in head movements in automated vs. manual driving, and for different levels of driving speed and driving experience. We conducted a study with 25 active train drivers in a high-fidelity train simulator. Statistical analyses revealed no significant difference in the vertical head movements between automation levels. There was a significant difference in the horizontal head movements, with train drivers looking more to the right for manual driving. We found no significant influence of driving speed and experience on head movements. Safety implications and the feasibility of head tracking as an alternative to eye tracking are discussed.","PeriodicalId":514640,"journal":{"name":"Automation","volume":"240 4","pages":""},"PeriodicalIF":0.0,"publicationDate":"2024-03-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140233699","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
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